Method and control unit for monitoring the lane of a vehicle
First Claim
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1. A method for monitoring a lane of a vehicle, the method comprising:
- ascertaining at least one lane characteristic;
ascertaining at least one driving situation variable representing an instantaneous driving situation of the vehicle in an instantaneous position;
ascertaining at least one approach variable in a subsequent position of the vehicle from the at least one lane characteristic and from the at least one driving situation variable; and
at least one of;
(i) warning the driver of a predicted vehicle movement based on the approach variable; and
(ii) providing a vehicle control intervention to change the vehicle movement based on the approach variable;
wherein the instantaneous driving situation of the vehicle is ascertained by determining the following;
(i) an instantaneous curvature Kact from an instantaneous ego-velocity Vego and an instantaneous yaw rate, and (ii) an instantaneous curvature change Kact, andwherein the at least one approach variable includes at least one of a left front wheel approach variable and a right front wheel approach variable,wherein the left front wheel approach variable is determined with a clothoid formula, for the left front wheel as follows;
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Abstract
A method and a control unit for monitoring the lane of a vehicle, including the steps of ascertaining at least one lane characteristic, ascertaining at least one driving situation variable representing the instantaneous driving situation of the vehicle in an instantaneous position, as well as ascertaining at least one approach variable in a subsequent position of the vehicle. The approach variable is ascertained from the at least one lane characteristic, as well as from the at least one driving situation variable.
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Citations
17 Claims
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1. A method for monitoring a lane of a vehicle, the method comprising:
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ascertaining at least one lane characteristic; ascertaining at least one driving situation variable representing an instantaneous driving situation of the vehicle in an instantaneous position; ascertaining at least one approach variable in a subsequent position of the vehicle from the at least one lane characteristic and from the at least one driving situation variable; and at least one of;
(i) warning the driver of a predicted vehicle movement based on the approach variable; and
(ii) providing a vehicle control intervention to change the vehicle movement based on the approach variable;wherein the instantaneous driving situation of the vehicle is ascertained by determining the following;
(i) an instantaneous curvature Kact from an instantaneous ego-velocity Vego and an instantaneous yaw rate, and (ii) an instantaneous curvature change Kact, andwherein the at least one approach variable includes at least one of a left front wheel approach variable and a right front wheel approach variable, wherein the left front wheel approach variable is determined with a clothoid formula, for the left front wheel as follows; - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A control unit for monitoring a lane of a vehicle, comprising:
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a first subunit for ascertaining at least one lane characteristic; a second subunit for ascertaining at least one driving situation variable representing an instantaneous driving situation of the vehicle in an instantaneous position; a third subunit for ascertaining at least one approach variable in a subsequent position of the vehicle from the at least one lane characteristic and from the at least one driving situation variable; and at least one of;
(i) warning the driver of a predicted vehicle movement based on the approach variable; and
(ii) providing a vehicle control intervention to change the vehicle movement based on the approach variable;wherein the instantaneous driving situation of the vehicle is ascertained by determining the following;
(i) an instantaneous curvature Kact from an instantaneous ego-velocity Vego and an instantaneous yaw rate, and (ii) an instantaneous curvature change {dot over (κ
)}act, andwherein the at least one approach variable includes at least one of a left front wheel approach variable and a right front wheel approach variable, wherein the left front wheel approach variable is determined with a clothoid formula, for the left front wheel as follows; - View Dependent Claims (16, 17)
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Specification